Updated CameraVideo and CameraStereoVideo constructor interface with USB

corelib/include/rtabmap/core/CameraRGB.h

@@ -178,6 +178,7 @@ public:
 
 public:
 	CameraVideo(int usbDevice = 0,
+			bool rectifyImages = false,
 			float imageRate = 0,
 			const Transform & localTransform = Transform::getIdentity());
 	CameraVideo(const std::string & filePath,

corelib/include/rtabmap/core/CameraStereo.h

@@ -203,6 +203,7 @@ public:
 			const Transform & localTransform = Transform::getIdentity());
 	CameraStereoVideo(
 			int device,
+			bool rectifyImages = false,
 			float imageRate = 0.0f,
 			const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraStereoVideo();

corelib/src/CameraRGB.cpp

@@ -696,10 +696,11 @@ SensorData CameraImages::captureImage()
 /////////////////////////
 CameraVideo::CameraVideo(
 		int usbDevice,
+		bool rectifyImages,
 		float imageRate,
 		const Transform & localTransform) :
 	Camera(imageRate, localTransform),
-	_rectifyImages(false),
+	_rectifyImages(rectifyImages),
 	_src(kUsbDevice),
 	_usbDevice(usbDevice)
 {
@@ -812,7 +813,7 @@ SensorData CameraVideo::captureImage()
 				_model.setImageSize(img.size());
 			}
 
-			if(_model.isValidForRectification() && (_src != kVideoFile || _rectifyImages))
+			if(_model.isValidForRectification() && _rectifyImages)
 			{
 				img = _model.rectifyImage(img);
 			}

corelib/src/CameraStereo.cpp

@@ -1141,11 +1141,12 @@ CameraStereoVideo::CameraStereoVideo(
 
 CameraStereoVideo::CameraStereoVideo(
 	int device,
+	bool rectifyImages,
 	float imageRate,
 	const Transform & localTransform) :
 	Camera(imageRate, localTransform),
 	path_(""),
-	rectifyImages_(false),
+	rectifyImages_(rectifyImages),
 	src_(CameraVideo::kUsbDevice),
 	usbDevice_(device)
 {

guilib/src/PreferencesDialog.cpp

@@ -4099,6 +4099,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	{
 		camera = new CameraStereoVideo(
 			this->getSourceDevice().isEmpty() ? 0 : atoi(this->getSourceDevice().toStdString().c_str()),
+			!useRawImages,
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 	}
@@ -4138,6 +4139,7 @@ Camera * PreferencesDialog::createCamera(bool useRawImages)
 	{
 		camera = new CameraVideo(
 			this->getSourceDevice().isEmpty()?0:atoi(this->getSourceDevice().toStdString().c_str()),
+			!useRawImages,
 			this->getGeneralInputRate(),
 			this->getSourceLocalTransform());
 	}